Robots have become integral to modern society, taking over both complex and routine human tasks. Recent advancements in depth camera technology have propelled computer vision-based robotics into a prominent field of research. Many robotic tasks—such as picking up, carrying, and utilizing tools or objects—begin with an initial Grasping step. Vision-based Grasping requires the precise identification of Grasp locations on objects, making the segmentation of objects into meaningful components a crucial stage in robotic Grasping. In this paper, we present a system designed to detect the Graspable parts of objects for a specific task. Recognizing that everyday household items are typically Grasped at certain sections for carrying, we created a database of these objects and their corresponding Graspable parts. Building on the success of the Dynamic Graph CNN (DGCNN) network in segmenting object components, we enhanced this network to detect the Graspable Areas of objects. The enhanced network was trained on the compiled database, and the visual results, along with the obtained Intersection over Union (IoU) metrics, demonstrate its success in detecting Graspable regions. It achieved a grand mean IoU (gmIoU) of 92.57% across all classes, outperforming established networks such as PointNet++ in part segmentation for this dataset. Furthermore, statistical analysis using analysis of variance (ANOVA) and T-test validates the superiority of our method.

Contrary to the Verse, Poetry has rhythm, rhyme and many other things. However, it lacks the very feeling and spirit of the verse. From this standpoint, we can rarely find distiches in the Masnavi of Mowlavi, which are free from verse specifications. This book was basically intended to inspire excellent mystical concepts, and in such works, there is no need to employ imaginative elements and include metaphor and figures of speech, which are essential for pure verse. The present article in a comparison with other dignified mystical works such as Hadigheh of Sanaei and Mossibatnameh of Attar, throws light on the difference of Masnavi with these works in terms of verse and imagination quality in presenting the idea, and shows the zenith and nadir of Masnavi as well as the elements involved in these zenith and nadir.

Counter-urbanization has been defined with many definitions in research literature as increasing of the small town population in the process of urban expansion and development. This study investigates the counter-urbanization process in Isfahan metropolitan Area based on an exploratory method using the population and immigration data, diurnal commuting, and the immigration motivators. The results show that, during different periods, population growth has been changed from the greater cities’ metropolitan Area to the small towns. So that, there is less population growth near the main greater cities during the last decade. Regarding the immigration as well as migration effectiveness over the population, and immigration motivators, it can be said that the most important parameters of small towns’ expansion near the greater cities are better habitation opportunities, and finding better jobs. Furthermore, decreasing the diurnal commuting close to the greater cities shows that small towns, which are farther from the greater city, have more autonomy. In addition, based on polarization reversal model, and population development investigation in metropolitan Areas, there are population development from the greater cities’ centre to the periphery Area, which is leaded to decrease the population of the main greater city, and increase the population absorption in small towns. Consequently, the urbanization of Isfahan metropolitan Area has entered to a counter-urbanization phase.

In this study, we create an evolution function that assesses prosthetic hands in terms of their ability to Grasp various objects like a human hand. It is required to evaluate the reachable workspace of prosthetic hands and Grasp ability to assess it completely. The first one can be done by using forward kinematics. The Volume of the Grasp Wrench space, one of the Grasp qualities indexes, is used to measure the second one. Randomization and Grasp taxonomy are used to generalize the Grasp quality to indicate the prosthetic hand functionality. Afterward, the created evaluation function is used to specify the importance of each finger and DOF. the results show that the most significant finger is the Thumb. The most crucial DOFs are the abduction movement of the Thumb's CMC joint and the Index's MCP joint. Finally, optimized hand configuration is created, considering limitations which are a number of actuators and stationery DOFs. Optimization has two steps. In the first step, the stationary joints and the joints that should be actuated independently from each other are chosen. In the second step, the remaining DOFs are specified to be coupled with which actuator using the Taguchi method.